I am currently programming a sparse bundle adjustment (SBA) for my own problem definition of coordinate calibration. Applying the LM algorithm (slide 10) for parameter optimization, I try to understand how to adapt the damping factor $\lambda$ while performing gradient descent (GD). The crucial step in GD using LM is $\Theta_{i+1} = \Theta_i - (J'J-\lambda I)^{-1}J'e$, where $\Theta$ are the parameters, $J$ is the Jacobian, $I$ the identity matrix, and $e$ the error.

Compared to a (common) Neuronal Network (NN) issues, I am used to have a learning rate $\alpha$ with the GD formulation of $\Theta_{i+1} = \Theta_i - \alpha \Delta\mathcal{L}$, where $\mathcal{L}$ is the loss definition. $\alpha$ can then be adapted by various techniques.

How should I adapt $\lambda$ at all? I know that it has a reciprocal effect of the GD behaviour with $\lambda < 1$ if you are far away from the solution, and $\lambda >> 1$ if you are close. Further, $\lambda = 0$ being the Newton GD and $\lambda = 1$ locks the parameter optimization. That is very empirical and works if I apply parameter adaption during runtime by hand.

Or is it best to keep $\lambda$ fixed and introduce an additional learning rate $\alpha$ to the LM alg.?


1 Answer 1


It is, as you suspect, better to adjust $\lambda$ at each iteration. A rough rule of thumb (there are better methods) is to look at whether the objective function was actually improved by more than a user-specified threshold at each step; if it was, divide $\lambda$ by 10 (moving you closer to a Newton-like update), otherwise, multiply $\lambda$ by 10 (moving you closer to a gradient descent update). In both cases $\lambda$ is subject to upper and lower bounds.

Better, albeit more complex, updating schemes can be found here:

The Levenberg-Marquardt method for nonlinear least squares curve-fitting problems


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